JP4723932B2 - Positioning system - Google Patents

Description

  The present invention relates to a positioning system using, for example, GPS (Global Positioning System).

  In order to achieve precise positioning using the satellite's code distance using satellites, the International Civil Aviation Organization (ICAO) discusses GBAS (Ground Based Augmentation System) standards as ground-based augmentation systems, and Category I standards It was enacted. At present, depending on the positioning of the GPS satellite alone, in the case of a commercial aircraft, standards such as accuracy and completeness required in the precision landing approach category I cannot be satisfied. In order to satisfy this standard, it is necessary to provide a system for reinforcing positioning data on the ground side. This type of reinforcement information is referred to as differential reinforcement information.

  In this type of satellite navigation system, technological innovation is remarkable, and details thereof are disclosed in Non-Patent Documents 1 to 8, for example. A method for improving positioning accuracy using GPS has already been described in Non-Patent Document 1. The configurations described in this document are a GPS antenna, a GPS receiver, a data processing device, a data format generation device, a modulator, a data link transmitter, and a transmission antenna.

  In Non-Patent Document 2, when two or more receivers are used as a differential GPS method used in GBAS, DGPS is used for one reference or receiver at a known position. Is described as applicable. Further, as a correction method, as described in the ICAO GBAS standard, a method using a difference obtained by subtracting a calculated distance from a GPS observation pseudorange at a known position is described. Non-Patent Document 3 describes disadvantages of the DGPS method.

Non-Patent Document 4 describes the kinematic method, and explains the method of eliminating phase noise and multipath by averaging using four receivers rather than using two receivers. . Non-Patent Document 5 lists a monitor station network and a plurality of control stations as items required for DGPS RULES of THUMB. Non-Patent Documents 6 and 7 describe a method for determining the position of a GPS satellite. Further, Non-Patent Document 8 describes GBAS standards (requirements), and describes a communication method of a ground reinforcement system using 2 to 4 receivers.
“RTCM RECOMMENDED STANDARDS FOR DIFFERENTIAL NAVSTAR GPS SERVICE VERSION 2.0”, RTCM SC-104, January 1,1990. B. Hofmann-Wellenhof, et. Al, “GPS Theory and Practice Third, revised edition”, Springer-Verlag Wien New York, 1994. Lindemann U, Haverland M, “AERONAV-an integrated navigation system for special mission aircraft.”, Proceedings of the First International Symposium on Real Time Differential Applications of the Global Positioning System, TUV Rheinland, vol1, pp238-247, 1991. “Dynamic Real Time Precise Positioning (Part IV)”, ION GPS-93 Tutorial, Sep. 21, 1993. “GPS Integrity Issues (Part I)”, ION GPS-93 Tutorial, Sep. 20, 1993. ICD-GPS-200, Navstar GPS / JPO, 1983. “Revised GPS -Precision positioning system by artificial satellite-”, Geodetic Society of Japan, September, 1989. “International Standards and Recommended Practices AERONUTICAL TELECOMMUNICATIONS”, Annex 10, Vol. I (RADIO NAVIGATION AIDS), Amendment 77, Nov. 28, 2002.

As described above, efforts have been made to improve the accuracy of positioning systems using satellites, but further technological innovation is awaited. In particular, in order for a commercial aircraft to make a precise approach using a satellite, it is necessary to determine whether or not an abnormality has occurred in the satellite as well as improving the positioning accuracy. This requirement is required not only for airplanes but also for satellite navigation in moving bodies such as railways. In addition, recently developed standards require that the difference reinforcement information and its error information be notified from the ground system to the moving body, and it is necessary to improve the accuracy.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a positioning system that can accurately calculate differential reinforcement information and its error and improve the positioning accuracy of a mobile object.

In order to achieve the above object, according to one aspect of the present invention, in a positioning system that obtains position information using positioning information included in satellite signals transmitted from a plurality of positioning satellites, position coordinate data is precisely measured in advance. A reference station apparatus that is installed at a reference observation point and obtains its own position information from the satellite signal, and a user apparatus that is mounted on a mobile body and obtains its own position information from the satellite signal, the reference station apparatus comprising: A plurality of satellite signal receivers arranged in the reference station device for receiving the satellite signal, and data for generating correction information for extracting the positioning information from the received satellite signal and transmitting it to the user device Processing means, and transmission means for transmitting the correction information to the user apparatus, wherein the user apparatus receives reception information transmitted from the reference station apparatus; Means for correcting the position information obtained by the own apparatus based on the correction information transmitted from the reference station apparatus, and the data processing means is provided with a weight for each of the plurality of satellite signal receivers. calculates the position information by a single positioning using the least squares method in consideration of, based on the positioning error included in the position information, the plurality of tropospheric delay and ionospheric delay sum of the satellite signals for each of said plurality of positioning satellites And calculating differential reinforcement information from the average of the tropospheric delay amount and ionospheric delay sum calculated for each of the plurality of satellite signal receivers, and calculating the differential reinforcement information and the plurality of satellite signal receivers. Error information is calculated from the difference between the tropospheric delay amount and the ionospheric delay sum for each satellite signal receiver, and the transmission means transmits the difference reinforcement information and the error information as the correction information. Positioning system is provided, wherein the door.

  By taking such a measure, the tropospheric delay amount and the ionospheric delay sum for a plurality of positioning satellites are calculated for each satellite receiver under single positioning by the least square method. Difference reinforcement information is calculated from the average of the values. Furthermore, the deviation from the average value of the tropospheric delay amount and the sum of the ionospheric delay amount is calculated as error information for each satellite receiver. Accordingly, the differential reinforcement information and its error can be calculated accurately, and by transmitting these pieces of information to the user device, it is possible to further improve the accuracy of positioning by the user device itself.

  According to the present invention, differential reinforcement information and its error can be accurately calculated, and a positioning system that improves the positioning accuracy of a mobile object can be provided.

  FIG. 1 is a system diagram showing an embodiment of the present invention. The present invention is formed with the satellites 11 to 1k, the reference station device 2, and the user device 3 as the core. The satellites 11 to 1k are, for example, GPS satellites, Galileo satellites, Glonass satellites, MTSAT satellites, QZS satellites, etc., and these may be used alone or in combination. The reference station apparatus 2 includes a plurality of satellite signal receivers 211 to 21n each including a satellite reception antenna, a data processing apparatus 22, a data transmission / reception apparatus 23, a data transmission antenna 24, a data recording apparatus 25, and a display apparatus 26. The user device 3 includes a satellite signal receiver 31 including a satellite reception antenna, a data processing unit 32, a data transmission / reception unit 33, and a data transmission antenna 34.

  Here, the installation position of the reference station apparatus 2, at least the position of the satellite receiving antenna, is accurately measured in advance, and accurate position data is prepared in advance. The user device is mounted on a moving body such as a civil aircraft. In addition, the user device can be mounted on a car, a railway, and a ship.

  The satellite receiving antennas of the reference station apparatus 2 and the user apparatus have characteristics capable of receiving L1 signals, L2 signals, L5 signals and the like broadcast from the satellites 11 to 1k. Here, the position of the satellite signal receiving antenna of the reference station apparatus 2 is accurately measured and known in advance, but the position of the satellite receiving antenna of the user apparatus 3 is unknown because the user apparatus 3 moves. The satellite signal receivers 211 to 21n of the reference station apparatus 2 receive these signals and output the code distance between the satellite and the receiver, the carrier phase, navigation information broadcast from the satellite, and the like.

In the data processing device 22 of the reference station device 2, the satellite signal receiver performs positioning processing based on the satellite information output from 211 to 21 n and creates differential reinforcement information. The processing procedure will be described with reference to the flowchart of FIG.
In step S1 of FIG. 2, the satellite signals are observed by the satellite signal receivers 211 to 21n of the reference station device 2. Data obtained by observation (code distance, carrier phase, reception intensity, signal-to-noise ratio, tracking state, ephemeris information, almanac information, etc.) is collected by the data processor 22. The collection status (reception intensity of the tracking satellite / tracking satellite, signal-to-noise ratio, satellite elevation angle / azimuth angle, etc.) is displayed on the display device 26. The collected data is recorded in the data recording device 25.
In the next step S2, the sum of the tropospheric delay amount and ionospheric delay amount for each of the satellites 11 to 1k observed by the satellite signal receivers 211 to 21n and the error thereof are estimated based on the observation result.

  In the next step S3, the satellite signal receivers 211 to 21n obtain, for example, a 95% range of observation values related to a certain satellite. Then, valid data and invalid data are sorted by making the receiver results that overlap each other in the 95% range as the results of the satellite signal receivers 211 to 21n. Here, when the normal data is only the result from the two receivers, the information of the satellite is not used. This process will be described later with reference to FIG.

In the next step S4, an average of the sum of the tropospheric delay amount and the ionospheric delay amount is obtained for the data of an effective satellite signal receiver of a certain satellite. Then, the amount of deviation of the sum of the tropospheric delay amount and the ionospheric delay amount of a certain satellite from the average is calculated for each of the satellite signal receivers 211 to 21n. Deviation from the average is used as error information of each of the satellite signal receivers 211 to 21n.
In the next step S5, the sign of the average of the sum of the tropospheric delay amount and ionospheric delay amount of the satellite indicating valid data is inverted to obtain differential reinforcement information for the satellite. Further, the deviation from the average is used as error information from each of the satellite signal receivers 211 to 21n.

  In the next step S6, the created difference reinforcement information and the deviation from the average are converted into an appropriate format (GBAS broadcast format or the like). In the next step S7, the format-converted data is transmitted from the data transmitting / receiving device 24 to the user device 3 via the data link.

  In the next step S8, the user device 3 receives the transmitted data and performs differential reinforcement positioning. In the next step S9, the positioning result in the user apparatus 3 is transmitted to the reference station apparatus 2 via the data link. The reference station device 2 displays the position of the user device 3 on the display device 26. Further, transmission information / position information from the user device 3 is recorded in the data recording device 25.

Next, a method for estimating the tropospheric delay amount and the ionospheric delay amount sum and a method for creating the correction amount will be described in detail. First, the code distance and carrier phase observed in the reference station apparatus 2 are expressed by the following equations (1) and (2).

Next, carrier smoothing processing is performed. Since the code distance includes a very large noise component, smoothing (filtering) using a carrier is performed to reduce noise at the code distance. According to the processing method described in RTCA-DO253A LAAS MOPS, the following equation (3) is obtained.

  P in the formula (3) indicates a pseudo range after carrier smoothing. α is a value obtained by dividing the sampling time by 100. In the case of 1-second sampling, the time constant is 100 seconds.

Next, the troposphere delay amount and the ionosphere delay amount sum of each satellite signal receiver 211 to 21n and each satellite 11 to 1k are calculated using the above values. First, the satellite reception antenna position of the reference station apparatus 2 is known, and each satellite signal receiver 211 to 21n performs independent positioning by the least square method considering the weight. The result is expressed by the following equations (4) to (9).

Here, Xr, t1, Xr0, and δXr, t1 indicate a positioning result, a true position, and a deviation from the true position in the receiver r, respectively. Further, (e1, e2, e3) are direction unit vectors from the satellite receiving antenna to the satellite direction. Furthermore, σ shown in the W matrix is a standard deviation of errors included in the code distance observation value of each satellite. This value is determined by receiver noise, satellite elevation angle, signal strength, tropospheric error, ionospheric error, etc. The method described in Non-Patent Document 6 or Non-Patent Document 7 can be used to calculate the satellite clock offset. When Expression (6) is modified by these methods, Expression (9 ′) is obtained.

The matrix in the middle of Expression (9 ′) is a value obtained from observation data, antenna position, and the like. When the clock offset of the receiver is obtained from the relationship of the fourth row of the equation (9 ′), it is expressed by the following equations (10) to (12).

For a certain satellite i, the 95% probability range of the sum of the tropospheric delay amount and the ionospheric delay amount calculated by the equation (12) for each receiver is defined as the following equation (13).

  If each of the satellite signal receivers 211 to 21n has an overlap in this range, the result obtained by the equation (12) is valid. Receiver output results that do not overlap are considered abnormal and are not used in subsequent processing. 3 to 5 are schematic diagrams for explaining this process. 3 to 5, black dots indicate the tropospheric delay amount + ionospheric delay amount calculated from the satellite signal receiver received for a certain satellite, and lines indicating the range of 95% probability are shown above and below it. The dotted line range overlaps with the results of other satellite signal receivers, and indicates the range considered as valid data. The encircled portion of the alternate long and short dash line does not overlap with other satellite signal receivers and indicates a range regarded as abnormal data.

FIG. 3 shows an example of determination relating to two satellite signal receivers. In FIG. 3A, since there is an overlap in the range of 95%, both data are valid. In FIG. 3B, none of the data overlaps and any data is excluded as an abnormal value.
FIG. 4 shows an example of determination relating to three satellite signal receivers. In FIG. 4A, all three data overlap within a range of 95%, and all data are valid. In FIG. 4B, only one data is excluded as an abnormal value.
FIG. 5 shows an example of determination for four satellite signal receivers. In FIGS. 5 (a) and 5 (b), all the data overlap within a range of 95%, and all the data are valid. It becomes. In FIG. 5C, only one data is excluded as an abnormal value.
When there are a plurality of effective satellite signal receivers for a certain satellite, noise can be reduced by using a central limit theorem generally known in statistics. Therefore, an average is taken for effective receivers, and this average value is used as differential reinforcement information for satellite i. The value is shown in equation (14). Further, the difference between the difference reinforcement information and the calculation result of each satellite signal receiver is set as error information of the satellite signal receiver. The value is shown in equation (15).

  As described above, in this embodiment, when calculating the sum of the tropospheric delay amount and ionospheric delay amount of each satellite signal receiver 211 to 21n and each satellite 11 to 1k, the weight is considered in each satellite signal receiver 211 to 21n. Independent positioning by the least square method. For example, a range of 95% is obtained for each of the satellite signal receivers 211 to 21n based on the value, and only data that overlaps the receivers is used as valid data. Furthermore, for the effective satellite signal receiver data of a certain satellite, the average of the tropospheric delay amount and the ionospheric delay amount sum is obtained, and the deviation amount from the average of the sum of the tropospheric delay amount and the ionospheric delay amount of a certain satellite is calculated. Calculation is performed for each of the satellite signal receivers 211 to 21n. The deviation from the average is used as error information for each of the satellite signal receivers 211 to 21n. Since it did in this way, difference reinforcement information and the error for every receiver can be calculated correctly, and while performing differential reinforcement positioning of mobile bodies, such as civil aviation, it can aim at improvement in the positioning accuracy in a mobile body. become.

  Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment.

1 is a system diagram showing an embodiment of the present invention. The flowchart which shows the positioning processing procedure in the system of FIG. The schematic diagram for demonstrating the process which determines the validity of data in embodiment of this invention. The schematic diagram for demonstrating the process which determines the validity of data in the embodiment. The schematic diagram for demonstrating the process which determines the validity of data in the embodiment.

Explanation of symbols

  11 to 1k ... satellite, 2 ... reference station device, 3 ... user device, 211 to 21n ... satellite signal receiver, 22 ... data processing device, 23 ... data transmitting / receiving device, 24 ... data transmission antenna, 25 ... data recording device, 26 ... Display device, 31 ... Satellite signal receiver, 32 ... Data processing unit, 33 ... Data transmission / reception unit, 34 ... Data transmission antenna

Claims (1)

In a positioning system that obtains position information using positioning information included in satellite signals transmitted from a plurality of positioning satellites,
A reference station device which is installed at a reference observation point where position coordinate data is precisely measured in advance and obtains its own position information from the satellite signal;
A user device mounted on a mobile body and obtaining its position information from the satellite signal;
The reference station device is
A plurality of satellite signal receivers arranged in the reference station apparatus for receiving the satellite signals;
Data processing means for generating correction information for extracting the positioning information from the received satellite signal and transmitting it to the user device;
Transmission means for transmitting the correction information to the user device,
The user equipment is
Receiving means for receiving correction information transmitted from the reference station device;
Means for correcting position information obtained by the own apparatus based on correction information transmitted from the reference station apparatus;
The data processing means includes
For each of the plurality of satellite signal receivers, the position information is calculated by single positioning by the least square method considering the weight for each satellite signal receiver,
Based on the positioning error included in the position information, the tropospheric delay amount and ionospheric delay sum of the satellite signal for each of the plurality of positioning satellites is calculated for each of the plurality of satellite signal receivers,
From the averaging of the tropospheric delay amount and ionospheric delay sum calculated for each of the plurality of satellite signal receivers, a fixed probability range of the calculated value of the tropospheric delay amount and ionospheric delay sum for each satellite signal receiver is obtained. Obtain the calculated value of the satellite signal receivers that overlap each other in the obtained range, and calculate the difference reinforcement information using only the effective data,
From the difference between the difference reinforcement information and the tropospheric delay amount and the ionospheric delay sum for each of the plurality of satellite signal receivers, a constant probability of the calculated value of the tropospheric delay amount and the ionospheric delay sum for each satellite signal receiver The range is calculated, the calculated values of the satellite signal receivers that overlap each other in the determined range are valid data, and error information is calculated using only the valid data,
The positioning unit transmits the difference reinforcement information and the error information as the correction information.

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